Methods, apparatuses, and systems for monitoring state of a transportation system

ABSTRACT

Embodiments of the present disclosure include methods, apparatuses, and systems for receiving feedback during transport. Embodiments include a transportation system comprising a tractor, a trailer, and a sensor feedback system. Sensor feedback system may include a tilt sensor system mounted on at least one of the tractor, a dolly, a first trailer, and a second trailer, and a user feedback system mounted within the tractor. Tilt sensor system may measure tilt of at least one of the dolly, first and second trailers, and first and second containers attached to the first and second trailers, to obtain tilt information, and send tilt information to the user feedback system via a communication system. User feedback system may receive the tilt information and alert a driver of the tractor if the tilt information is above a predetermined level.

This application is a continuation-in part of U.S. patent application Ser. No. 15/879,279, filed Jan. 24, 2018, which is a continuation of U.S. patent application Ser. No. 14/928,370, filed Oct. 30, 2015, now U.S. Pat. No. 9,914,392, which claims the benefit of U.S. Provisional Patent Application No. 62/072,543, filed on Oct. 30, 2014, the contents of each of which are incorporated herein by reference in their entirety.

Efficient tractor transport of heavy and/or bulky loads has been hindered in the trucking industry by inefficient axel loading. Hauling heavy loads in single trailers and containers has not been possible because of the weight such loads place on individual axles. Large individual axle loads have been known to cause damage to roadways and have been banned by various local, state, and federal governments. Indeed, loads that exceed legal limits for maximum axle weight have often been broken down into smaller loads that are transported by multiple tractors. Bulky loads have posed similar issues. Trailers may only be partially loaded because of the shape and configuration of the containers they are transporting, for example, plane, shipping and/or train containers. For example, a single shipping/train container is often pulled by a single tractor well below axle weight maximums.

Another issue with tractor transport of freight using trailers and/or containers involves the tilt that occurs when making a turn using the tractor. When a driver makes a turn, it is usually normal for the trailers and/or containers to tilt along the roll axis. However, if the driver turns at an excessive speed or if the turn itself is hazardously sharp, the trailers and/or containers may tilt excessively, which may damage the freight inside the containers. In some instances, the containers may overturn, potentially injuring the driver and/or other drivers and pedestrians.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an isometric view of a freight transportation system, according to an exemplary embodiment of the present disclosure;

FIG. 2 is a side view of a two axle dolly, according to an exemplary embodiment of the present disclosure;

FIG. 3 is a top view of the two axle dolly shown in FIG. 2 ;

FIG. 4 is an isometric view of the two axle dolly shown in FIG. 2 ;

FIG. 5 is a schematic of a sensor feedback system, according to an exemplary embodiment of the present disclosure.

FIG. 6 is a flowchart of a sensor feedback system, according to an exemplary embodiment of the present disclosure.

FIG. 7 is a schematic diagram of a sensor feedback system, according to an exemplary embodiment of the present disclosure;

FIG. 8 is a schematic diagram of a freight transportation system, according to an exemplary embodiment of the present disclosure; and

FIG. 9 is a process flow diagram of a sensor feedback system, according to an exemplary embodiment of the present disclosure.

DESCRIPTION OF EMBODIMENTS

Methods, apparatuses, and systems are provided for transporting multiple trailers and containers via a dolly system. Embodiments provide a freight transportation system having a dolly system. In embodiments, a two axle dolly system may be secured to multiple trailers and/or containers. Dolly system may be used to safely and securely distribute axle weights and allow for maneuverability of the overall freight transportation system.

Embodiments provide for methods, apparatuses, and systems for receiving feedback regarding the degree of tilt of a dolly and/or trailers, and/or attached containers. In some embodiments, a sensor feedback system may be integrated into a freight transportation system as described herein. In an embodiment, the sensor feedback system may include a tilt sensor system mounted on a frame of the dolly or trailers attached to the dolly, and a user feedback system located within a cabin of a tractor attached to the dolly. Tilt sensor system may measure the tilt of the dolly and/or trailers, as well as attached containers, to obtain related tilt information, and continuously send the tilt information to the user feedback system. User feedback system may then vibrate/alert a driver of the tractor if the tilt information is above a predetermined/dangerous level. User feedback system may be a haptic feedback system, audio feedback system, visual feedback system, and/or audiovisual feedback system.

Referring to FIG. 1 , a freight transportation system (10) is shown. Tractor (101) is coupled to a first trailer (105). First container (115) is secured to top of first trailer (105). Two axle dolly (125) is coupled to the first trailer (105) and a second trailer (110). Second container (120) is secured to top of second trailer (110). Two axle dolly (125) distributes the weight of the first and second trailer (105, 110) across its tandem axles.

Tractor (101) may refer to a heavy-duty commercial vehicle. In embodiments, tractor (101) may have two load axles (e.g., as seen in FIG. 1 ) or three load axles. In various instances, the load axles of tractor (101) may include single, tandem, or tridem tires. Examples of commercially available tractors (101) include Volvo™ VNL and VNM series trucks. However, other types of tractors (101) commonly used to transport freight may also be used.

First and second trailers (105, 110) may include one, two, or more front axels and one, two, or more rear axles. First and second trailers (105, 110) may be 102 inches wide. In various instances, the axles of first and second trailers (105, 110) may include single, tandem, or tridem tires. First and second trailers (105, 110) as used herein may refer to a box, van, or flatdeck. An example of a commercially available trailer (105, 110) that may be used is a Transcraft™ flat deck trailer. However, other types of trailers (105, 110) commonly used to transport freight and/or house a container may also be used.

First and second trailers (105, 110) may support the first and second containers (115, 120). First and second containers (115, 120) may be “Intermodal” and designed to be moved from one mode of transport to another (e.g. from ship, to rail, to truck). First and second containers (115, 120) may be slid into a box trailer or placed onto a flatdeck trailer. First and second containers (115, 120) may be shipping containers.

As shown in FIGS. 2, 3, and 4 , the dolly (125) includes a cart assembly (201) and first and second axles (205, 210). Second axle (210) may be parallel to the first axle (205). Dolly (125) may be configured to distribute weight from the first and second trailers (105, 110) across the first and second axles (205, 210) to permit legal hauling of large loads. The length of the first and second axles (205, 210) may be greater than the length of the axles of the tractor (101) and/or first and second trailers (105, 110). In this embodiment, the extended axle length may provide for enhanced stability and distribution of load weight. First and second axles (205, 210) may have a length of approximately 70 to approximately 90 inches. In embodiments, the length of the first and second axles (205, 210) is approximately 77.5 inches. In these embodiments, the extended first and second axles (205, 210) may be coupled with high quality tire configurations to further distribute axle weight. First and second axles (205, 210) may include, at the termini, tandem (301, 305, 310, 315) or tridem tire configurations. Particularly, first axle (205) may include a first tandem tire set (301, 310), and second axle (210) may include a second tandem tire set (305, 315) parallel to the first tandem tire set (301, 310). See FIG. 3 . In an exemplary embodiment, tires may be 295/75R22.5 DCOIN TR100 steel belted radial tires. Tires may be configured to maximize contact surface area with the road. Position of the tires may be optimized along the elongated axle length for stability and maneuverability. At the same time, the overall dolly (125) size may be optimized for maneuverability of the overall system (10). In an exemplary embodiment, tires of first and second trailers (105, 110) are the same size as tires of dolly (125). However, tires of first and second trailers (105, 110) and/or dolly (125) may have varying sizes and configurations. In other embodiments, length of the first and second axles (205, 210) may be lesser than or equal to the length of the axles of the tractor (101) and/or first and second trailers (105, 110). Length and width of the dolly (125) may be varied as needed to support particular applications, including measurement of tilt of dolly (125) described herein.

Dolly cart assembly (201) of the two axle dolly (125) may be manufactured from a variety of materials such as, for e.g., steel and aluminum. In various examples, the cart assembly (201) may include two side rails (320, 325) placed on a plurality of orthogonal cross support members (379, 380), the support members (379, 380) attached to the two tandem first and second axles (205, 210), respectively. See, e.g., FIGS. 2 and 3 . Two pedestal josts (215, 340) may be secured to the top of the two side rails (320, 325). Josts (215, 340) may be configured to attach to a fifth wheel jost (330) in a rotatable manner.

Two corresponding hinges (345, 350) and two cable attachment points (355, 360) may be secured to a first end of the two side rails (320, 325) of cart assembly (201). See FIG. 3 . Hinges (345, 350) may be secured to a V-shaped assembly (365) with an eye and shank installation (335). However, hinges (345, 350) may be secured to V-shaped assembly via any other attachment mechanisms. V-shaped assembly (365) may have any other shape for attachment to hinges (345, 350). First suspension faculty (370) for the first axel (205) may be secured to the first end of the two side rails (320, 325) of cart assembly (201). See FIG. 3 . Second suspension faculty (401) for the second axel (210) may be secured to the middle of the two side rails (320, 325) of cart assembly (201). See FIG. 4 . First and second suspension faculties (370, 401) may include respective air suspension hangers with independent arms (405, 410, 435, 440) for each of the tandem tire pairs (301, 305, 310, 315), respectively. See FIGS. 3 and 4 .

The components of the dolly cart (125) may be configured in a variety of shapes and sizes depending on the application. In some embodiments, the height of the two side rails (320, 325) from the center of the first and second axles (205, 210) may range from about 10 to about 20 inches. In particular embodiments, the height of the two side rails (320, 325) from the center of the first and second axles (205, 210) is about 14 inches. The distance from the center of the fifth wheel jost (330) to the eye and shank installation (335) may vary depending on the separation distance desired between the first trailer. In some embodiments, this distance is about 98 inches. Depending on factors such as road width, the width of the cart assembly (201) may also be varied. In some instances, the cart assembly (201) may have a width of about 40 to about 70 inches. In a specific embodiment, the cart assembly (201) has a width of about 44 inches.

Tractor (101), first and second trailers (105, 110), first and second containers (115, 120), and/or two axle dolly (125) of the present disclosure may be used in a variety of methods. In embodiments of the present disclosure, tractor (101), first and second trailers (105, 110), first and second containers (115, 120), and/or two axle dolly (125) may be selected based on the volume/weight requirements of a given load. A trailer length exception, if necessary, may be filed with the appropriate state authority and approved. Tractor (101), first and second trailers (105, 110), and/or first and second containers (115, 120) may be loaded and balanced across the dolly (125) such that the weight at the dolly tandem axles (205, 210) may not exceed the legal tandem axle weight limit. Optionally, the load may be additionally balanced as to not exceed any legal axle weight limits.

Referring to FIG. 5 , a schematic of a sensor feedback system (20) is shown. Sensor feedback system (20) includes a tilt sensor system (200) and a user feedback system (300). As shown, user feedback system (300) is a haptic feedback system. However, user feedback system (300) may also be an audio feedback system, visual feedback system, and/or audiovisual feedback system. Sensor feedback system (20) alerts/provides feedback to a driver of a tractor (101) of dangerous situations such as when containers (for e.g., first and second containers (115, 120)) attached to tractor (101) may be tilting excessively during transportation of freight, thereby allowing the driver to take appropriate corrective action to reduce the excessive tilt.

In embodiments, tilt sensor system (200) may include a housing having at least one tilt sensor and a first communication module/system, both connected to a first microcontroller. Housing of tilt sensor system (200) may be dust-proof, water-proof, and/or shock-proof. The connections between each component in the tilt sensor system (200) may be wireless or wired connections. At least one tilt sensor may be a known inclinometer and/or accelerometer system that measures and obtains tilt information of the dolly (125), first and/or second trailers (105, 110) attached to dolly (125), and/or first and/or second containers (115, 120) attached to first and/or second trailers (105, 110). Any suitable tilt sensor may be used. In an exemplary embodiment, the at least one tilt sensor is the ADIS16210 iSensor® by Analog Devices®. The ADIS16210 iSensor® is a digital inclinometer system that provides precise measurements for both pitch and roll angles over a full orientation range of ±180°. At least one tilt sensor may combine a MEMS (Micro-Electro-Mechanical System) tri-axial acceleration sensor with signal processing, addressable user registers for data collection/programming, and a Serial Peripheral Interphase (SPI)-compatible serial interface. At least one tilt sensor may include unit specific calibration for optimal accuracy performance. It may also offer digital temperature sensor and power supply measurements together with configuration controls for in-system calibration, sample rate, filtering, alarms, I/O configuration, and power management. The MEMS sensor elements may be bound to an aluminum core for tight platform coupling and mechanical stability. An internal clock may drive the data sampling system, which may eliminate the need for an external clock source. The SPI and data buffer structure may provide convenient access to accurate sensor data and configuration controls. In exemplary embodiments, the at least one tilt sensor may be available in a 15 mm×24 mm×15 mm module that provides mounting tabs with M2-sized mounting holes and a flexible, edge terminated connector interface. At least one tilt sensor may also have an extended operating temperature range of about −40° C. to about +125° C. In other embodiments, the tilt sensor(s) may be an inclinometer and/or accelerometer that may interface with microcontrollers and/or wireless or wired communication systems to provide feedback to a user. Other types of sensors may also be used, such as for e.g., lasers.

Sensor feedback system (20) may be integrated into the freight transportation system (10). See FIGS. 1 to 4 . Particularly, tilt sensor system (200) may be mounted on frames of the dolly (125) and/or trailers (105, 110) attached to dolly (125), and feedback system (300) may be located within a cabin of a tractor (101) where a driver is seated. See, e.g., FIG. 1 . However, sensor feedback system (20) may be used in other transportation or other systems where feedback to an operator/user is desired.

In some embodiments, tilt sensor system (200) is mounted directly on a frame of the dolly (125). See, e.g., FIGS. 1 to 4 . In an embodiment, tilt sensor system (200) is mounted on side rail (325) in the middle of cart assembly (201), to obtain measurements of tilt of dolly (125) using the at least one tilt sensor. See FIGS. 2 to 4 . In this embodiment, tilt information of first and second containers (115, 120) may be calculated based on tilt information of dolly (125). Dolly (125) described herein may be further modified to obtain tilt measurements. For example, first tandem tire set (301, 310) and second tandem tire set (305, 315) of dolly (125) may be moved further inward or outward such that dolly (125) tilts along with first and/or second trailers (105, 110). In other embodiments, tires (301, 310, 305, 315) of dolly (125) may be modified and/or located in other configurations so as to obtain accurate tilt measurements of dolly (125).

In other embodiments, tilt sensor system (200) may be secured to first and/or second trailers (105, 110), which may be connected to first and/or second containers (115, 120), respectively. In this embodiment, tilt sensor system (200) may include at least a first tilt sensor and a second tilt sensor secured underneath the frames of the first and second trailers (105, 110), respectively. Particularly, tilt sensor system (200) may be secured underneath the frames and to the front of rear tires of first and/or second trailers (105, 110) to obtain tilt measurements of first and/or second containers (115, 120) attached to first and/or second trailers (105, 110). In this embodiment, tilt information of first and/or second containers (115, 120) may be measured based on tilt information of trailers (105, 110) via direct attachment/mounting of containers (115, 120) to trailers (105, 110).

In other embodiments, tilt sensor system (200) may be located in other locations on dolly (125) and/or trailers (105, 110) to account for forward, backward, and/or side-to-side tilt of dolly (125) and/or trailers (105, 110), and thereby obtain accurate tilt measurements. Tilt sensor system (200) may be mounted on the dolly (125) and/or trailers (105, 110) via fasteners, nuts, bolts, adhesives, and/or other attachment mechanisms.

Tilt sensor system (200) may continuously measure/monitor the tilt, i.e. angle of inclination, of the dolly (125), first and/or second trailers (105, 110) attached to dolly (125), and/or first and/or second containers (115, 120) attached to first and/or second trailers (105, 110), via the at least one tilt sensor to obtain tilt information regarding the same. Tilt sensor system (200) may then continuously send the tilt information to the user feedback system (300) via the first communication module. User feedback system (300) may then continuously receive tilt information from tilt sensor system (200), and may vibrate and alert a driver if the tilt information is above a predetermined/dangerous level.

First communication module/system in tilt sensor system (200) may facilitate connection between the tilt sensor system (200) and user feedback system (300). First communication module of tilt sensor system (200) may be a first wireless or wired communication module. In some instances, the first wireless communication module may be a first ZigBee® wireless module. In an exemplary embodiment, first ZigBee® wireless module may be the XBee Pro® Module.

Tilt sensor system (200) and user feedback system (300) may be in constant communication with each other, such as via a ZigBee® wireless connection in some examples, shown as arrow A in FIG. 5 . Alternatively, tilt sensor system (200) and feedback system (300) may communicate with each other via any other known wired or wireless connections, such as, for example, Wi-Fi, RF, Bluetooth. ZigBee® (also known as the ZigBee® protocol) was developed as an open global standard to address the unique needs of low-cost, low-power, wireless sensor networks. The protocol uses the 802.15.4 physical radio specification as a baseline and adds additional routing and networking functionality. It operates in unlicensed bands worldwide at the following frequencies: 2.400-2.484 GHz, 902-928 MHz and 868.0-868.6 MHz. ZigBee® technology may be used with embodiments of dolly (125) and/or trailers (105, 110) described herein to carry data associated with tilt of dolly (125) and/or trailers (105, 110) through hostile RF environments that routinely exist in transportation applications. Zigbee® may be implemented with embodiments of the present disclosure to address the needs of communication of data with simple structure like, for example, data from the at least one tilt sensor described herein. Alternatively, other types of communication modules/systems may be used to communicate with tilt sensors and/or microcontrollers to provide feedback.

First microcontroller in tilt sensor system (200) may provide power to and activate the at least one tilt sensor, obtain tilt information from the at least one tilt sensor, and determine whether the tilt information, i.e. degree of tilt, is above a predetermined/hazardous level. First microcontroller may be in constant communication with a second microcontroller in the user feedback system (300) via the first communication module and a second communication module in the user feedback system (300). In an exemplary embodiment, first microcontroller is the ATmega 48/88/168/328 AVR® 8-Bit Microcontroller by Atmel®. Alternatively, other types of microcontrollers may be used to communicate with tilt sensors and/or communication modules to provide feedback.

Tilt sensor system (200) may be powered via connections to a power source located on the dolly (125) and/or directly on the tractor (101). Power source may be a battery, direct wired connection into the dolly (125) itself, or any other form of power. In some embodiments, tilt sensor system (200) mounted on the dolly (125) may be powered by a battery. Alternatively, tilt sensor system (200) mounted on the dolly (125) may be powered via connections to a stinger port located on a tractor (101). In other embodiments, at least the first and second tilt sensors of tilt sensor system (200) secured to frames of first and second trailers (105, 110), respectively, may be powered via connections to a stinger port located on a tractor (101). Stinger port may be connected to an external battery source, which may be recharged by the alternator of the tractor (101). In some embodiments, stinger port may be connected to an ion power pack. In this embodiment, wired connections may be connected from the stinger port on the tractor (101) to a custom designed port installed on each of the frames of the first and second trailers (105, 110). Wired connections connected to the stinger port may run along the length of the frame of the first trailer (105) and attach to a first custom port on the first trailer (105), run along the length of the dolly (125), and finally, run along the length of the second trailer (110) and attach to a second custom port on the second trailer (110).

User feedback system (300) may be located within a cabin/cab of a tractor (101). As shown in FIG. 5 , user feedback system (300) is a haptic feedback system (300). Haptic/tactile feedback involves the use of advanced vibration patterns and waveforms to convey information to a user. Haptic feedback may utilize a vibrating component such as a vibration motor or a linear resonant actuator which may be driven by an electronic circuit. In some instances, a microcontroller may be used that decides when to activate vibration of a haptic sensor and in what particular pattern, and a dedicated haptic driver chip may be used to control the actuator.

In exemplary embodiments, haptic feedback system (300) is secured to a driver seat (102) of tractor (101). Particularly, haptic feedback system (300), including haptic sensors (306), may be sewed into a seat cover fitted on the driver seat (102) of tractor (101). See, e.g., FIG. 5 . In exemplary embodiments, haptic feedback system (300) may include multiple haptic sensors (306) and a second communication module/system, both connected to a second microcontroller. Second communication system may facilitate connection between the tilt sensor system (200) and haptic feedback system (300). Second microcontroller may receive tilt information from the first microcontroller, and when necessary, activate haptic sensors (306).

Second communication module of user feedback system (300) may be a second wireless or wired communication module. In some embodiments, second wireless communication module may be a second ZigBee® wireless module. Of course other modules may be used and in some cases, wireless communication may be over Wi-Fi or RF, or some other suitable wireless protocol. In an exemplary embodiment, second ZigBee® wireless module may be the XBee Pro® Module. Second microcontroller may be the ATmega 48/88/168/328 Microcontroller by Atmel®. In other embodiments, haptic feedback system (300) may utilize a single chip that includes both a wireless (e.g., ZigBee®) module and a microcontroller, such as for example, the ATmega2564RFR2 chip by Atmel®. However, any other ZigBee° or other type of communication system/module and/or microcontroller may be used. Haptic sensor (306) may be any known industrial grade haptic sensor. In an exemplary embodiment, haptic sensor (306) may be the Uni Vibe™ 34 mm Vibration Motor by Precision Microdrives™.

Each sensor (306) may be sewn inside the seat cover fitted on the driver seat (102), while the other components of haptic feedback system (300), including second communication system and second microcontroller, may be located outside the seat cover. In other embodiments, all components of haptic feedback system (300) may be sewn within the seat cover. The connections may be wired connections (307) that connect to each haptic sensor (306). In other embodiments, the connections may be wireless connections. In the embodiment shown in FIG. 5 , the second microcontroller and/or haptic feedback system (300) may be powered via wired connections (307) to, for e.g., a cigarette lighter adapter (308), which may then be inserted into a cigarette lighter connection (309) located adjacent to the driver seat (102) of tractor (101), as shown by arrow B. However, the second microcontroller/feedback system (300) may be powered via other known mechanisms.

In exemplary embodiments, user feedback system (300) may receive continual updates from the tilt sensor system (200) regarding degree of tilt of dolly (125), first and/or second trailers (105, 110) attached to dolly (125), and/or first and/or second containers (115, 120) attached to first and/or second trailers (105, 110), respectively, via a connection, A, using the first wireless module. Haptic feedback system (300) may receive either “OK” or “hazard” signals from the tilt sensor system (200). If the haptic feedback system (300) receives an “OK” signal, it will not engage the haptic sensors (306). However, if the haptic feedback system (300) receives a “hazard” signal (for e.g., when a driver is making a turn but is doing so at an excessive speed or the turn itself is hazardously sharp), indicating excessive/dangerous tilt of the dolly (125), first and second trailers (105, 110), and/or first and second containers (115, 120), it may then energize/engage/turn on the haptic sensors (306). In an exemplary embodiment, the second microcontroller may apply a 5V signal on a voltage line connected to the haptic sensors (306), and thereby activate/energize the sensors (306). Upon engagement/being turned on, the sensors (306) may then alert a driver sitting on the driver seat (102) of tractor (101), via vibration of the seat cover fitted on the driver seat (102), that the dolly (125), first and second trailers (105, 110), and/or first and second containers (115, 120) may be experiencing excessive tilt. When the driver experiences this vibration, he/she may then know to take appropriate correction action (such as for e.g., slowing down or widening the turn of the tractor (101)).

User feedback system (300) may be a visual feedback system, audio feedback system, and/or audiovisual feedback system. The visual system and/or audio system may be separate systems or combined audiovisual systems. In embodiments, visual, audio, and/or audiovisual feedback systems may directly receive tilt information from tilt sensor system (200) via connections to microcontrollers and communication modules, and provide appropriate feedback to a driver. Visual, audio, and/or audiovisual feedback systems may be interconnected with a separate haptic feedback system (300). For example, haptic feedback system (300) may include wired connections (307) from the second microcontroller to the visual, audio, and/or audiovisual systems. The visual, audio, and/or audiovisual feedback systems may be located anywhere within the cabin of the tractor (101).

Visual system may be mounted on a dashboard in the cabin via either permanent or non-permanent attachment mechanisms, for e.g., an adhesive. In exemplary embodiments, the visual system may be a row of green, yellow, and red LEDs (light-emitting diodes). In this embodiment, the visual system may show a green light in normal driving conditions, a yellow light when containers (115, 120) may be tilting towards a dangerous level, and a red light when first and second containers (115, 120) are tilting excessively.

Audio feedback system may be located within the housing of the haptic feedback system (300) or may be a separate system. Audio feedback system may be an audio alarm that may send a low pitched audio signal/alert in normal driving conditions and a high pitched audio signal/alert in situations where first and second containers (115, 120) are tilting excessively. The audio alarms may be horns/sirens that output an audio signal when a voltage is applied to their input power terminals. In other embodiments, audio feedback system may be piezoelectric audible sound transducers—also called tone generators or buzzers—that may deliver a high sound output from a small (milliwatt) energy input. In an exemplary embodiment, the audio feedback system may be piezo buzzers offered by APC International, Ltd.

FIG. 6 is a flowchart showing a sensor feedback system (20) using tilt sensor system (200) and user feedback system (300) described herein. Sensor feedback system (20) described in FIG. 6 may be implemented using the apparatuses, systems and methods described herein, including various embodiments thereof. Sensor feedback system (20) may include the following steps. A user may first plug user feedback system (300) into a cigarette lighter adapter (308), which may be inserted into a cigarette lighter connection (309). User feedback system (300) may then send a startup command to at least one tilt sensor in tilt sensor system (200) described herein. Tilt sensor system (200) may be mounted on dolly (125) and/or first and second trailers (105, 110) described herein. If tilt sensor system (200) does not notify user feedback system (300) of receipt of startup command, user feedback system (300) may alert the user that tilt sensor system (200) is not functioning properly. In exemplary embodiments, user feedback system (300) may be a visual LED system that may show a red light to user indicating non-functioning of the tilt sensor system (200). Once user sees the red light, user may notify an appropriate party that the system (20) is not functioning properly, and repairs may be made to system (20). In other embodiments, user may receive this notification via audio, audiovisual, and/or haptic feedback.

If tilt sensor system (200) receives the startup command from user feedback system (300), the at least one tilt sensor of tilt sensor system (200) may wake up from a sleep mode and test functionality of the system (200). Particularly, tilt sensor system (200) may test functionality of the inclinometer in the system (200). If the tilt sensor system (200) is not functioning properly, the tilt sensor system (200) may send a fault status to feedback system (300), which user feedback system (300) may alert the user as described herein, and appropriate repairs may be made to tilt sensor system (200). If the tilt sensor system (200) is functioning properly, the tilt sensor system (200) may send an “OK” status to user feedback system (300). If user feedback system (300) does not receive the fault status and/or “OK” status from tilt sensor system (200), it may then notify the appropriate party for repairs. In embodiments with a haptic feedback system (300), once it receives an “OK” status, user feedback system (300) may then briefly initiate haptic feedback sensors (306). Again, if the user feedback system (300) is not functioning properly, user feedback system (300) may alert the user as described herein, and appropriate repairs may be made to user feedback system (300).

Once tilt sensor system (200) sends the “OK” status to user feedback system (300), tilt sensor system (200) may then measure tilt information of dolly (125), first and second trailers (105, 110), and/or first and second containers (115, 120) attached to first and second trailers (105, 110) using the at least one tilt sensor. Tilt sensor system (200) may then send this tilt information to user feedback system (300) via a first communication system. User feedback system (300) may receive this tilt information via a second communication system. If the dolly (125), first and second trailers (105, 110), and/or first and second containers (115, 120) are tilting excessively beyond a predetermined level, tilt sensor system (200) may send a warning signal to user feedback system (300). User feedback system (300) may then alert user of this dangerous tilt level via haptic, audio, and/or visual feedback. Once the user takes appropriate corrective action to fix the dangerous level of tilt, tilt sensor system (200) may send an “OK” signal to user feedback system (300), which may then deactivate haptic, audio, and/or visual feedback. If the communication between the user feedback system (300) and the tilt sensor system (200) is interrupted at any time, the tilt sensor system (200) may send a fault status to user feedback system (300), and user feedback system (300) may alert the user as described herein, and appropriate repairs may be made to fix this interrupted communication.

FIG. 7 schematically illustrates a sensor feedback system (20) according to some embodiments. Computing resources (700), which in some cases may be located within a cab of a tractor. The computing resources (700) may be permanently mounted within a cab, or may be removably positioned. For example, the computing resources (700) may be secured in a housing that is adhered, affixed, clamped, clipped, attached with hook and loop fastener, carried by a holder, or may be removably mounted with some other attachment structure.

The computing resources (700) may include one or more processor(s) (702), and non-transitory computer readable memory (704) that is available to the processor. The memory may store one or more module(s) (706) which may store programs, operations, routines, or instructions that cause the processor (702) to carry out one or more acts. The computing resources (700) may further include a feedback system (708), a global positioning system (GPS) (710), a power system (712), and a communication system (714).

The feedback system (708) and may include haptic, audio, visual, or a combination of notification modalities as described herein. In some cases, the feedback system includes one or more lights. For example, in some embodiments, the feedback system (708) includes a plurality of LED lights in different colors. In some embodiments, the feedback system (708) includes at least 5 LEDs, and may include up to 8, 10, 11, or more LEDs. In some examples, the LEDs may be colored, which corresponds to an indication to a driver of the tractor. For example, one or more LEDs may be green, indicating that the tilt of the dolly, trailer, or tractor is below a threshold angle. One or more LEDs may be yellow, which may indicate that the tilt of the dolly, trailer, or tractor is at an angle above a first threshold angle but below a second threshold angle. The yellow indicator may signal to the driver of the tractor that the angle of tilt is within an intermediate danger range. As the angle of tilt crosses a second threshold angle, one or more orange LEDS may illuminate. One or more LEDs may be colored red, which may indicate that the tilt of the dolly, trailer, or tractor is at an angle above a third threshold, indicating that the angle of tilt is dangerous to the dolly, trailer, tractor, or a container carried by the trailer. Of course, other colored LEDs may be incorporated, and the tilt angle thresholds may be determined based upon the tractor, dolly, trailer, route, weather, or some other variable or combinations thereof.

In some cases, the feedback system (708) provides alerts associated with predetermined threshold angles associated with acceptable, dangerous, and unacceptable. For example, an acceptable range of tilt may be from 0° to about 5°. In some cases, which may depend upon the load that the tractor is hauling, an acceptable range of tilt may be between 0° and about 4.5°, or 4° or less. A dangerous degree of tilt may include atilt above the acceptable tilt and up to about 15°, or 13°, or 12°, or 10°. In some cases, an unacceptable degree of tilt may be above the dangerous level of tilt. In other words, an unacceptable degree of tilt may be above 10°, or 12°, or 13°, or 15° or more. Of course, other ranges and categories of angular tilt may be determined based upon the combination of tractor and one or more trailers, the geographic region through which the travel will pass, the anticipated weather conditions, among other variables that may be used to determine the tilt ranges associated with acceptable, dangerous, and unacceptable conditions.

In some examples, the feedback system (708) includes multiple alert modalities. For example, the LEDs may be combined with an audio feedback. In some cases, the audio feedback includes one or more of a siren, chirp, tone, recorded words, or some other audio indicator. In some examples, the audio indicator may increase commensurate with the tilt angle detected by the tilt sensor system (200). For example, the audio indicator may increase in volume, pitch, speed, or some other escalating indicator associated with the angle of tilt detected by the tilt sensor system (200). Similarly, a haptic indicator may likewise increase commensurate with the angle of tilt detected by the tilt sensor system (200).

In some embodiments, an audio indicator is activated when the tilt angle is above a first threshold angle. More specifically, when the detected tilt angle is below a threshold angle, there may not be any audio indicators, and as the detect tilt angle crosses a first threshold angle, the audio sensor may activate. As the detected tilt angle crosses the first threshold angle or the second threshold angle, the audio indicator may be activated.

The computing resources 700 may optionally include a GPS (710) that may track the location of the computing resources, and hence, the tractor to which it is attached. A power source (712) is supplied to the computing resources (700). In some embodiments, the power source (712) may be a 12V supply that gets power directly from the tractor, such as by plugging into a 12V outlet within the cab of the tractor. Other power sources are contemplated, such as battery power, 110V power which may be supplied by a power inverter associated with the tractor, or some other source.

A communication system (714) provides the computing resources (700) with communication functionality for both incoming and outgoing communication. The communication system (714) may include one or more antennas to enable communication on any suitable frequency and power level. The communication system (714) may provide for communication through Bluetooth, WiFi, cellular, satellite, or some other suitable protocol.

The GPS 710 may periodically or continually store travel information associated with the tractor and may include an identifier, a date, position, time, speed, acceleration, route, stops, and the like. The travel information may be stored in the memory and accessible by a remote computing device. For example, a remote computing device may be able to access the memory and further access the travel information. The access to travel information may be on-demand, or the information may automatically be pushed or pulled from the memory to the remote computing device. In some cases, a centralized computer may gather travel information from one or more computing resources (700) associated with multiple tractors and store the travel information for future analysis.

For example, travel information may be analyzed to determine dangerous routes, dangerous intersections, travel delays, and the like. In some cases, travel information may be used to predict travel routes and determine that the tractor is heading toward a roadway that is experiencing delays. For example, by predicting the route a tractor is heading on, the centralized computer may determine that one or more travel delays (e.g., caused by traffic, construction, accident, etc.), will impact the travel time of the tractor, the centralized computer may contact the driver of the tractor with this information and suggest an alternate route.

In some embodiments, the computing resources (700) are in wireless contact with the central computer via the communication system (714) over a network (734), which may include any suitable wireless communication protocol and method, and may include WiFi, cellular (e.g, CDMA, GSM, GPRS, HSPA, EV-DO, and/or UMTS), satellite communication, microwave, or other now known or future developed communication technology. The computing resources (700) may provide near real-time updates to the central computer, may provide periodic updates to the central computer, or may store data for later acquisition and analysis.

The tilt sensor system (200) is in communication with the computing resources (700). In some embodiments, the tilt sensor system (200) includes power (720) and a communication system (722). The power (720) may be provided by any suitable power supply, and may include 12V power that is supplied by the tractor through a power cord to the tilt sensor system (200). The power system (720) may optionally include a transformer and/or power conditioner to change the incoming voltage to be more suitable to the components of the tilt sensor system (200), which may include stepping down the incoming voltage to within the range of about 2.4V to 3.6V.

The communication system (722) may include any suitable communication system and may include a wired or wireless communication system that allows the tilt sensor system (200) to communication with the computing resources (700). In some cases, a wired connection between the computing resources (700) and the tilt sensor system (200) provides power and a communication pathway.

The communication system (722) may also include a suitable wireless communication system, such as Bluetooth, WLAN, WiFi, ultraband, ultrawide band (UWB), WPAN, WSN, Zigbee, radio frequency, or any other suitable now known or later developed communication technology. In some cases, the communication system (722) provides for two or more communication technologies.

The tilt sensor system (200) further includes an inertial measurement unit (IMU) (724). The IMU (724) may include a microcontroller (726), a gyroscope (728), an accelerometer (730) and/or a magnetometer (732). The microcontroller may receive data from the sensors of the IMU and process, interpret, convert, and/or send the data to the computing resources (700). The sensor data provided by the IMU may include one or more of quaternion, Euler angles, rotation vectors, linear acceleration, gravity, and/or heading.

The accelerometer (730) may capture linear acceleration in three axes (e.g., X, Y, and Z) within selectable ranges of about ±1 g, ±2 g, ±4 g, ±8 g, and ±16 g. The microcontroller (726) may be triggered for slope detection, high-g detection, or other motion or angle. The gyroscope (728) may be configured to detect rotational motion within the range of about ±125°/s to about ±2000°/s. The magnetometer (732) may operate within a range of about ±1300 μT in the x and y axis, and about ±2500 μT in the z-axis. The magnetometer (732) may provide heading information and may additionally correct for gyroscope errors as a result of the Earth's magnetic field. The microcontroller may include software that is executed to received sensor data and analyze, interpret, convert, store, send, and/or manipulate the data. A bidirectional I²C and/or UART interface may be included to allow the tilt sensor system (200) to be compatible with a wide variety of computing resources (700). In some cases, the microcontroller (726) in the tilt sensor system (200) determines the angle of tilt of the tractor, trailer, and/or the dolly, and relays this information to the computing resources (700) in the cab of the tractor. In some cases, the sensor data is sent to the computing resources (700) and the computing resources (700) determines the tilt of the tractor, trailer, and/or the dolly. In some cases, the processing steps are distributed and may be shared between the IMU (724) of the tilt sensor system (200) and the computing resources (700).

FIG. 8 illustrates a freight transport system (10) including a tractor (101) and a tilt sensor system (200). The tilt sensor system (200) may be substantially as described herein and may be mounted to the tractor at a suitable location, which may include just forward of the rear axle, or rearward of the rear axle. The tilt sensor system (200) may be mounted through any suitable mechanism, and may be permanently or removably affixed to the tractor (101). For example, the tilt sensor system (200) may be bolted, welded, adhered or otherwise affixed to the tractor (101). In some examples, the tilt sensor system (200) may be removably attached, such as by clips, straps, magnets, and the like.

The tilt sensor system (200) may be configured with nine degrees of freedom to capture motion and acceleration data, such as, for example, linear acceleration in X, Y, and Z directions; rotation angle about the X, Y, and Z axes; and rotational acceleration about the X, Y, and Z axes. As described, additional data may include heading among other types of data. The tilt sensor system (200) may be configured to capture thousands of measurements per second while in use, and convey this data to the microcontroller (726) associated with the tilt sensor system (200) or to the computing resources (700).

According to some examples, the tilt sensor system (200) can be attached to the tractor 101, rather than being attached to a dolly or trailer as in other embodiments. In this way, the sensor feedback system (20) can be used with a single load transport system (e.g., having only a single trailer), or a multiple load transport system. In some embodiments, the tilt sensor system (200) can be selectively attached to a trailer, thus allowing a sensor feedback system (20) to be associated with a tractor and be used with a wide variety of different trailers by selectively attaching the tile sensor system (200) to a desired load being transported by the tractor (101). In some cases, a tilt sensor system (200) may be permanently affixed to a trailer and “paired” with computing resources (700) located within a cab of a tractor. Moreover, a plurality of tilt sensor systems (200) may be paired with a single computing resource (700) in the cab of a tractor. For example, a tractor may convey two or more trailers at a time, in which case, a tilt sensor system (200) may be mounted on one or more of the tractor, a first trailer, a first dolly, and a second trailer. Multiple tilt sensor systems (200) may be in communication with computing resources (700) and provide data regarding the component to which the tilt sensor system (200) is affixed.

The components of the tilt sensor system (200) may be housed in a single housing that is shockproof, waterproof, dustproof and provides a secure environment for the sensitive sensors disposed therein.

FIG. 9 illustrates an example process flow diagram (900) in accordance with some embodiments. At step 902, 1^(st) motion data is acquired from a gyroscope of an IMU. The 1^(st) motion data may include absolute orientation and/or rotational acceleration.

At step 904, 2^(nd) motion data is acquired from an accelerometer of the IMU. The 2^(nd) motion data may include acceleration in any one or more of X, Y, and Z directions.

At step 906, 3^(rd) motion data is acquired from a magnetometer of the IMU. The 3^(rd) motion data may include heading data, or correctional data to account for the magnetic field of the earth, which can be used to correct the 1^(st) motion data.

At step 908, the motion data (e.g., 1^(st), 2^(nd), and/or 3^(rd) motion data) is transmitted to a computing device. The computing device may be a microcontroller associated with the IMU (724 of FIG. 7 ) or may be associated with the computing resources (700) within the cab of a tractor.

At step 910, the motion data is analyzed, and an axial roll is determined. The axial roll may be associated with the tractor, trailer, dolly, or some other component to which the tilt sensor system (200) is affixed. As used herein, an axial roll is a tilt angle about an axis parallel with a direction of travel.

At step 912, one or more notifications on a feedback device are activated. As described elsewhere herein, the notifications may be haptic, audio, and/or visual and may alert a driver of the tractor as to the condition of the hauled load based on the tilt angle.

At step 914, as an option, the motion data may be transmitted to remote computing resources, such as a central computer, for evaluation, analysis, location tracking, and the like.

Embodiments provide a method for preparing a load for transport. First container (115) as described herein may be coupled onto a first trailer (105) as described herein, which first trailer (105) may then be connected to a tractor (101). First end of a two axle dolly (125) as described herein may be attached to the first trailer (105). Second trailer (110) as described herein may then be attached to a second end of the two axle dolly (125). Second container (120) as described herein may be coupled onto the second trailer (110). Methods may include connecting the sensor feedback system (20) described herein, including tilt sensor system (200) and user feedback system (300), to at least one of the dolly (125) and/or trailers (105, 110), as well as tractor (101), to receive feedback regarding tilt of the dolly (125), first and/or second trailers (105, 110), and/or first and/or second containers (115, 120). User feedback system (300) may be haptic, visual, audio, and/or audiovisual feedback systems.

While the embodiments are described with reference to various implementations and exploitations, it will be understood that these embodiments are illustrative and that the scope of the inventions is not limited to them. Many variations, modifications, additions, and improvements are possible. Further still, any steps described herein may be carried out in any desired order, and any desired steps may be added or deleted. 

What is claimed is:
 1. A transportation system, comprising: a tractor; a first trailer attached to the tractor; and a sensor feedback system, wherein the sensor feedback system includes: a first tilt sensor system mounted on the first trailer, a second tilt sensor system mounted on the tractor or a dolly attached to the first trailer, and a user feedback system located on the tractor, wherein each tilt sensor system includes an inertial measurement unit having a gyroscope for acquiring first motion data, an accelerometer for acquiring second motion data and a magnetometer for acquiring third motion data; wherein the first tilt sensor system utilizes the third motion data from the magnetometer to correct the first motion data of the gyroscope and analyzes corrected first motion data, the second motion data and the third motion data associated with the first trailer to determine side-to-side tilt of the first trailer along a first roll axis of the first trailer and generate first tilt information, and sends the first tilt information to the user feedback system via a first communication system and wherein the second tilt sensor system utilizes the third motion data from the magnetometer to correct the first motion data of the gyroscope and analyzes first corrected motion data, the second motion data and the third motion data associated with the tractor or the dolly to determine side-to-side tilt of the tractor or the dolly and generate second tilt information and sends the second tilt information to the user feedback system via a second communication system, wherein the user feedback system receives the first and second tilt information from the first communication system and the second communication system, respectively, via a third communication system, and alerts a driver of the tractor if the first or second tilt information is above a predetermined level.
 2. The system of claim 1, wherein each tilt sensor system measures one or more of linear acceleration, orientation, and heading.
 3. The system of claim 1, wherein the user feedback system further comprises a global positioning system and captures travel information comprising one or more of speed, time, location, and heading.
 4. The system of claim 3, wherein the user feedback system sends travel information and/or tilt information to a remote computing device.
 5. The system of claim 1, wherein the first, second and third communication systems communicate via at least one of a wired and wireless connection.
 6. The system of claim 1, wherein the first, second and third communication systems communicate wirelessly.
 7. The system of claim 6, wherein the first, second and third communication systems communicate over Wi-Fi.
 8. The system of claim 1, wherein the first and second tilt sensor systems each include a housing having at least one tilt sensor and a communication system, both connected to a first microcontroller.
 9. The system of claim 1, wherein the user feedback system is one or more of a haptic feedback system, audio feedback system, visual feedback system, and audiovisual feedback system.
 10. The system of claim 9, wherein the user feedback system is configured to deliver an escalating alert commensurate with tilt information.
 11. The system of claim 9, wherein tilt information is displayed by the visual feedback system.
 12. The system of claim 11, wherein the visual feedback system comprises a plurality of colored lights.
 13. The system of claim 9, wherein the haptic feedback system includes one or more haptic sensors.
 14. The system of claim 13, wherein the one or more haptic sensors are sewn into a seat cover fitted on a driver seat in the cabin of the tractor.
 15. The system of claim 14, wherein the one or more haptic sensors vibrate and alert the driver sitting on the driver seat if the tilt is above the predetermined level.
 16. The system of claim 1, wherein each tilt sensor system is powered via a connection located on the tractor.
 17. A method, comprising the steps of: acquiring first motion data from a first gyroscope coupled to a first trailer attached to the tractor and from a second gyroscope coupled to the tractor or a. dolly attached to the first trailer; acquiring second motion data from a first accelerometer coupled to the first trailer and from a second accelerometer coupled to the tractor or the dolly; acquiring third motion data from a first magnetometer coupled to the first trailer and from a second magnetometer coupled to the tractor or the dolly; transmitting first, second, and third motion data to a computing device; utilizing the third motion data from the magnetometer to correct the first motion data of the gyroscope; analyzing corrected first motion data, the second motion data and the third motion data to determine an axial roll of the first trailer about a first roll axis of the first trailer and an axial roll of the tractor or the dolly; activating, based at least in part on the axial roll first trailer or the tractor or dolly, a notification on a feedback device within a cab of the tractor.
 18. The method of claim 17, further comprising the step of transmitting the first, second and/or third motion data to a remote computing resource.
 19. The method of claim IS, further comprising analyzing the first, second and/or third motion data to determine geographic locations associated with the motion data.
 20. The method of claim 17, wherein the step of transmitting first, second, and third motion data comprises a wireless transmission.
 21. The system of claim 1, wherein the first and second communication system are a common communication system.
 22. The system of claim 1, wherein the second tilt sensor system is mounted on the dolly attached to the first trailer, wherein the second tilt sensor system measures side-to-side tilt of a second trailer attached to the dolly along a second roll axis of the second trailer.
 23. The system of claim 22, further comprising: a third tilt sensor system mounted to the second trailer attached to the dolly. 